Eddy current detection and compensation

ABSTRACT

A distortion compensation method includes determining an undisturbed phase for at least one of a first position indication signal and a second position indication signal. The method includes determining an undisturbed ratio that relates the amplitude of the first position indication signal at a first frequency to the amplitude of the second position indication signal at a second frequency. The method also includes determining a disturbed amplitude of the position indication signal and adjusting a position indication based on the disturbed amplitude and phase, the undisturbed amplitude ratio, and the undisturbed phase. The method further comprises determining a relationship between the eddy current phase of the first position indication signal and the second position indication signal.

CLAIM OF PRIORITY

This application is a continuation application and claims priority under35 USC §120 to U.S. patent application Ser. No. 10/824,846 filed on Apr.15, 2004, (U.S. Pat. No. 7,783,441 to be issued on Aug. 24, 2010), whichclaims priority to U.S. Provisional Application No. 60/463,576 filed onApr. 17, 2003, the entire contents of which are hereby incorporated byreference.

BACKGROUND

Magnetic tracking systems are used in variety of applications, forexample in image guided medical applications, radiation therapy (e.g.tumor tracking), other medical diagnostic and therapeutic devices,ergonomics and human motion research, animation (e.g. motion capture),and industrial measuring. The presence of conductive objects in thevicinity of the magnetic tracking system can degrade the performance ofthe system. The eddy currents induced within a conductive object candisturb the position indication of a sensor and result in inaccurateposition and/or orientation information.

SUMMARY

In one aspect of the invention, a distortion compensation methodincludes determining an undisturbed phase for at least one of a firstposition indication signal and a second position indication signal. Themethod includes determining an undisturbed ratio that relates theamplitude of the first position indication signal at a first frequencyto the amplitude of the second position indication signal at a secondfrequency. The method also includes determining a disturbed amplitude ofthe position indication signal and adjusting a position indication basedon the disturbed amplitude and phase, the undisturbed amplitude ratio,and the undisturbed phase. The method further comprises determining arelationship between the eddy current phase of the first positionindication signal and the second position indication signal.

In another aspect of the invention, a method for detecting the presenceof conductive objects includes determining a characteristic frequencyfunction of a magnetic tracking system and measuring a disturbedfrequency function. The method also includes calculating a chi-squaredvalue based on the characteristic undisturbed frequency function and thedisturbed frequency function and monitoring the chi-squared value todetect changes indicating the presence of a conductive object.

In a further aspect of the invention, a method includes measuringcharacteristics of a conductive object and determining an eddy currentphase based on the characterization. The method also includes measuringa disturbed amplitude and calculating an undisturbed (i.e. corrected)amplitude based on the eddy current phase, an undisturbed sensor phase,and the disturbed amplitude.

Embodiments of the above aspects can include one or more of thefollowing features.

A second undisturbed ratio can be determined that relates the amplitudeof either of the first and the second position indication signals to theamplitude of a third position indication signal at a third frequency. Arelationship between the eddy current phases of either the first orsecond position indication signal and the third position indicationsignal can be determined and the position indication can be adjusted.

The first frequency can be a superior harmonic of the second positionindication signal and the second frequency can be a subordinate harmonicof the first position indication signal. For example, the superiorharmonic can be the fundamental frequency and the subordinate harmoniccan be the third harmonic. In some embodiments, the first frequency isless than the second frequency. The first frequency and the secondfrequency can be harmonically related. Multiple frequencies can begenerated by a chirped waveform, for example. Other aspects of theinvention can include receiving from a sensor the real and imaginarycomponents of the first and second position indication signals.

The distortion compensation method can be repeated for a plurality ofposition indication signals. The method can be used for detecting thepresence of eddy currents in a conductive object. Detecting the presenceof an eddy current can include monitoring a ratio of the amplitude ofthe first position indication signal and the amplitude of the secondposition indication signal. In another example, detecting the presenceof an eddy current can include detecting a change in the undisturbedphase. In another example, detecting the presence of an eddy current caninclude detecting changes in characteristics of undisturbed real andimaginary components of a position indication signal.

Determining the undisturbed phase can include measuring asymptotic phasevalues and using the asymptotic phase values to calculate theundisturbed phase. Determining the undisturbed phase can alternately orin addition include iteratively calculating phase values and adjustingan asymptotic phase value. Calculating the eddy current phase caninclude using a numerical method to solve a set of equations or using aclosed form solution to solve a set of equations.

In some examples, the method can include monitoring the chi-squaredvalue for a plurality of position indication signals. The method canalso include setting thresholds for the chi-squared value to indicatedifferent levels of distortion. Detecting a change in the chi-squaredvalue of a position indication signal can indicate the presence ofconductive objects. The detection of a change in a chi-squared value ata particular frequency range (e.g., a mid-frequency range, alow-frequency range, or a high-frequency range) can indicate thepresence of a particular type of conductive object.

Among other advantages, the eddy current compensation provides areal-time determination of the eddy current phase and amplitude. Themethod provides compensation for a position indication to account forthe eddy current generated by a conductive object.

Among other advantages, in some embodiments, the use of multiple fieldgenerator coils provides the advantage of increased sensitivity andredundancy. The presence of conductive objects can cause a signaldisturbance due to coupling to one or more of the field generator and/orsensor coils.

DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram of a coordinate measurement system.

FIG. 2 is a phasor diagram including an undisturbed phasor, a disturbedphasor, and an eddy current phasor.

FIG. 3 is a flow chart of a signal compensation process.

FIG. 4 shows experimental results, used for determining φ_(E), when astainless steel ring is moved in the vicinity of the system of FIG. 1.

FIG. 5 shows experimental values of κ for the third and fifth harmonicswhen a stainless steel ring is used to disturb the signal of astationary sensor.

FIG. 6 shows experimental values of κ(ω) as a function of frequency fora sensor disturbed by a stainless steel ring.

FIG. 7 is a flow chart of a process to determine an asymptoticundisturbed phase.

FIG. 8 shows an experimental result of the eddy current compensation.

FIG. 9 shows an experimental result of the eddy current compensation.

FIG. 10 is a flow chart of a process to determine the presence of adisturbance based on a chi-squared value.

FIG. 11 is a flow chart of a signal compensation process.

DESCRIPTION

Referring to FIG. 1, a coordinate measurement system 10 includes amagnetic tracking system 14 having one or more sensors 16. Magnetictracking systems (also referred to as coordinate measurement systems)are susceptible to distortions (also referred to as disturbances) due toeddy currents resulting from the presence of conductive materials in ornear the sensor 16 and/or the field generator 12. Examples of conductivematerials include metals (e.g. stainless steel), carbon fiber, andcertain conductive plastics. The electromagnetic coupling that generateseddy currents is dependent on the frequency of a transmitted AC magneticfield. In addition, eddy currents are phase shifted with respect to themagnetic tracker source drive current that generates the magnetic field.

In order to accurately provide a position indication, the magnetictracking system includes a field generator 12 that generates an inputsignal having two or more frequency components. The lowest of thesefrequency components is termed the fundamental frequency. For example, atypical fundamental frequency might be 1000 Hz. Additional frequencycomponents could be harmonics of the fundamental frequency, or could beother non-harmonic frequencies. Examples of waveforms input by thesignal input include a square wave, a triangular wave, a sawtooth wave(e.g. ramp), a sinusoidal wave, a chirped wave, a multiple frequencywaveform of any kind, or any combination of these.

Properties of the eddy currents generated by the presence of conductiveobjects near the magnetic tracking system 14 depend on the excitationfrequency and the coupling of the transmitted AC magnetic field. Acomputer system 18 or other computational unit analyzes the positionindication signals generated at multiple frequencies. Based on theposition indication signals, computer system 18 calculates the eddycurrent phase and amplitude and compensates the position indication toremove the measurement error induced by the eddy current.

Referring to FIG. 2, a graphical representation 30 of the undisturbedphasor 31, disturbed or total phasor 32, and eddy current phasor 33 isshown. Each phasor is represented by an amplitude (A) and a phase (φ).For example, the undisturbed phasor 31 is represented as an undisturbedamplitude (A_(U)) 34 and an undisturbed phase (φ_(U)) 35, the disturbedor total phasor 32 is represented as a disturbed or total amplitude(A_(T)) 36 and a disturbed or total phase (φ_(T)) 37, and the eddycurrent phasor 33 is represented as an eddy current amplitude (A_(E)) 38and an eddy current phase (φ_(E)) 39. The disturbed or total phasor 32is the vector sum of the undisturbed phasor 31 and the eddy currentphasor 33. The system uses values of A_(U) to calculate positionindications. This is because the underlying field model used for theposition fit is based on the undisturbed fields.

Referring to FIG. 3, a process 40 to provide compensation to thedisturbed signal is shown. The eddy current amplitude and phase can becalculated and removed from the disturbed phasor 32 leaving theundisturbed phasor 31. The process involves two stages. In the firststage (steps 41, 42, and 43), a given conductive object is characterizedby introducing it into the field (step 41) and collecting disturbedsignal measurements (step 42). At the time of characterizing aconductive object, A_(U) and φ_(U) are known values and can therefore beused, along with the disturbed data, to determine the eddy current phase(step 43). Details of step 43 are given below. The second stage ofprocess 40 (steps 44, 45, 46, and 47) deal with eddy currentcompensation during real-time collection of position indication signals(step 44). The eddy current phase (φ_(E)) of step 43 and the positionindication signals of step 44 are used as input to the compensationprocedure (step 46) if the characterized conductive object is known tobe in the field (step 45). Otherwise, compensation is not necessary andthe process goes directly to step 47. Details of the compensationprocedure are given below.

Referring to FIG. 4, a graph 56 displays the results of a stationarysensor when a stainless steel ring is randomly waved in the vicinity ofa sensor. Graph 56 shows the real and imaginary components of the totalsensor signal (solid circles 58) and the undisturbed phasor 57. Theseresults show that for the selected stainless steel ring, φ_(E) is aconstant. In general, for conductive objects having simple geometricshapes, φ_(E) is a constant that depends on the driving frequency of thefield generator.

The real and imaginary components of the disturbed/total signal can beexpressed as follows:

x=Re _(T) =A _(U) cos(φ_(U))+A _(E) cos(φ_(U)+φ_(E))  (1)

y=Im _(T) =A _(U) sin(φ_(U))+A _(E) sin(φ_(U)+φ_(E))  (2)

Using the real and imaginary components of the disturbed/total signal, achi-squared (χ²) value can be calculated. To calculate a chi-squaredvalue, equation (1) is solved for A_(E) and substituted into equation(2). The chi-squared value is defined as follows:

$\begin{matrix}{\chi^{2} = {\sum\limits_{j = 1}^{N}( \frac{y_{j} - {y( {x_{j};\varphi_{E}} )}}{\sigma} )^{2}}} & (3) \\{\chi^{2} = {\sum\limits_{j = 1}^{N}( \frac{y_{j} - \lbrack {{A_{U}\sin \; \varphi_{U}} + {( {x_{j} - {A_{U}\cos \; \varphi_{U}}} ){\tan ( {\varphi_{U} + \varphi_{E}} )}}} \rbrack}{\sigma} )^{2}}} & (4)\end{matrix}$

In equation (3) and equation (4), the measurement uncertainties σ_(j)have been set to σ for simplicity and N is the total number of pointscollected. In order to determine the eddy current, the derivative of thechi-squared value is calculated and used to determine a minimizingcondition as shown in equations (5-9).

$\begin{matrix}{\frac{\partial\chi^{2}}{\partial\varphi_{E}} = 0} & (5)\end{matrix}$

Substituting the χ² equation, taking the derivative, and solving fortan(φ_(U)+φ_(E)) results in the equation below:

$\begin{matrix}{{{\tan \; \gamma} = \frac{\sum\limits_{j = 1}^{N}{( {y_{j} - \alpha} )( {x_{j} - \beta} )}}{\sum\limits_{j = 1}^{N}( {x_{j} - \beta} )^{2}}}{where}} & (6) \\{\gamma = {\varphi_{U} + \varphi_{E}}} & (7) \\{\alpha = {A_{U}\sin \; \varphi_{U}}} & (8) \\{\beta = {A_{U}\cos \; \varphi_{U}}} & (9)\end{matrix}$

Since magnetic tracking systems often include multiple (e.g., 4, 8, 10)field generator coils, it may be advantageous to calculate φ_(E) usingdata gathered simultaneously from the multiple coils. However, when datais gathered from multiple coils, a closed form solution as shown abovemay not exist. If a closed form solution does not exist (or is notreadily known), the equations can be solved using a numerical method.For example, the equations could be solved using the Levenberg-Marquardtmethod.

As was the case in the above example, for simple objects the eddycurrent phase (φ_(E)) is a constant. However, for more complex objectsthe eddy current phase (φ_(E)) may not be constant. The eddy currentphase (φ_(E)) for complex objects often varies depending on the positionand the orientation of the distorter. In situations where the eddycurrent phase varies, the system utilizes a ratio of eddy current phasesat different frequencies, as described below in equations (10-14).

The eddy current phase (φ_(E)) relative to the sensor phase can bewritten in terms of the inductance and resistance of the distortingobject. The inductance and resistance of an object are materialconstants and do not generally depend on the frequency. The eddy currentphase can be defined as follows:

$\begin{matrix}{{\varphi_{E}(\omega)} = {\frac{\pi}{2} - {\arctan ( \frac{\omega \; L}{R} )}}} & (10)\end{matrix}$

where ω is the angular frequency (i.e., ω=2πf). The eddy current phaseof a given harmonic frequency can be related to the eddy current phaseof the fundamental frequency (or another harmonic) in terms of theharmonic index, where the harmonic index (i) equals 1, 2, 3, . . . , N.The eddy current phase as a function of the harmonic is as follows:

$\begin{matrix}{\varphi_{Ei} = {\frac{\pi}{2} - {\arctan ( \frac{\omega_{i}\; L}{R} )}}} & (11)\end{matrix}$

where the angular frequency of the harmonic is defined as the harmonicindex multiplied by the fundamental harmonic value or

ω_(i)=iω₁.  (12)

The eddy current phase of higher order harmonics can be related to theeddy current phase of the first harmonic using the following ratio:

$\begin{matrix}{{\kappa_{i} \equiv \frac{\tan ( {\frac{\pi}{2} - \varphi_{Ei}} )}{\tan ( {\frac{\pi}{2} - \varphi_{E\; 1}} )}} = i} & (13)\end{matrix}$

This expression is confirmed experimentally as shown in FIG. 5. In FIG.5, experimental values of κ for i=3 (solid circles 65) and i=5 (solidtriangles 63) are plotted as a function of Δ=|A_(T1)−A_(U1)|. Each pointrepresents a new position for the stainless steel ring. The sensor wasstationary for the entire time of data collection.

The ratio relating the eddy current phases of two signals can be furthergeneralized to any pair of harmonic or non-harmonic frequencies. Thiscontinuous form of κ can be normalized to a particular frequency ω_(n)and written as follows:

$\begin{matrix}{{{\kappa (\omega)} \equiv \frac{\tan ( {\frac{\pi}{2} - \varphi_{E}} )}{\tan ( {\frac{\pi}{2} - \varphi_{E\; n}} )}} = \frac{\omega}{\omega_{n}}} & (14)\end{matrix}$

This generalization is confirmed experimentally as shown in FIG. 6. InFIG. 6, theoretical values of κ(ω) (represented as a solid line 59) andexperimental values for κ (represented as solid circles 60) are shown asa function of ω for a stationary sensor with a signal disturbed by astainless steel ring. Once the steel ring was in place, it was heldstationary for the duration of the data collection (i.e., for theduration of the frequency sweep). The experimental values for κ overlaythe theoretical results, verifying the generalizations shown in equation(14). Further generalizations based on the use of various (e.g.,non-harmonic) frequencies are described below.

The value of κ(ω) is used when solving a set of equations for twodisturbed phasors. In the example that follows, the compensationprocedure uses the phasors for the first and third harmonic. However,the theory applies to any pair or set of frequencies. The real andimaginary components of the fundamental frequency (first harmonic) areas follows:

Re _(T1) =A _(T1) cos(φ_(T1))=A _(U1) cos(φ_(U1))+A _(E1)cos(φ_(U1)+φ_(E1))  (15)

Im _(T1) =A _(T1) sin(φ_(T1))=A _(U1) sin(φ_(U1))+A _(E1)sin(φ_(U1)+φ_(E1))  (16)

The real and imaginary components of the third harmonic are as follows:

Re _(T3) =A _(T3) cos(φ_(T3))=A _(U3) cos(φ_(U3))+A _(E3)cos(φ_(U3)+φ_(E3))  (17)

Im _(T3) =A _(T3) sin(φ_(T3))=A _(U3) sin(φ_(U3))+A _(E3)sin(φ_(U3)+φ_(E3))  (18)

The left hand side of each expression (equation (15-18)) is the totalsensor signal at a given position and orientation.

From the above expressions, in order to perform compensation, theundisturbed phase of each sensor signal must be input. It is generallyassumed in the literature that φ_(Ui) is a constant throughout themeasurement volume. The undisturbed phase, however, can be a function ofsensor position and orientation (pose). For example, sensor poses forwhich the signal amplitude is small have different phase values than the“expected” large amplitude values (also referred to as asymptotic phasevalues). Therefore, the undisturbed phase is known to high precision ifboth the sensor pose is known and a model for the phase exists.

If the sensor pose is not known, an iterative process allows thecompensation process to determine the actual undisturbed phase startingwith asymptotic phase values, for large sensor signals. The solution forφ_(Ui) at each iteration can be used as a phase input for the eddycurrent compensation algorithm. The asymptotic values of the undisturbedphases can be determined at the time of system characterization. In afirst order compensation scheme only the asymptotic φ_(Ui) values areused.

Referring to FIG. 7, a process 61 for measuring the amplitude and phaseof a disturbed sensor is described. Using the disturbed amplitude andphase (step 62) a compensated value for the amplitude of the disturbedsensor is calculated (step 64). Inputs to this calculation include thedisturbed amplitude, the disturbed phase, and the undisturbed asymptoticphase. Process 40 describes a compensation method that can be used instep 64 and an alternative compensation method is described below. Thecorrected amplitude and phase values are used to determine the positionof the sensor (step 66). If a model exists for the sensor phases in anundisturbed field, the position calculated in step 66 is used todetermine a new value for the undisturbed phase (step 68). This phasebecomes the new undistorted asymptotic phase. Process 61 determines ifposition fit convergence criteria are met (step 70). If the criteria aremet, the calculated position is accepted and the process outputs aposition indication signal (step 72). If the criteria are not met,process 61 returns to calculating a compensated value with the newasymptotic phase. This process repeats until the compensation criteriaare met (step 70).

Given that A_(T) and φ_(T) are the total amplitude and phase of a sensorsignal, and given that φ_(U) is a quantity that can be determined at thetime of characterization of a system, the undisturbed amplitude (i.e.corrected) A_(U) can be determined. The undisturbed phase may drift orvary during the lifetime of a system, and can be re-determined orrefined real-time using an iterative process.

The value of an undisturbed ratio F_(i)=A_(ui)/A_(u1), where i=1, 3, 5,. . . for the present discussion, is also needed to perform acompensation of the signal. For some waveforms such as a square wave ora triangular wave, the values of F_(i) can be determined using Fourieranalysis. In general, however, sensor waveforms are complex and theF_(i) values must be determined at the time of system characterization.It is assumed that the F_(i) values do not depend on sensor positionand/or orientation (this can be verified at the time of systemcharacterization). In addition to the measured F_(i) value, the value ofκ_(i) calculated using equation (13) (or κ(ω) using equation (14)),expresses the eddy current phase of higher order harmonics in terms ofthe eddy current phase of the first harmonic.

With the generalizations described above, a set of four equations (e.g.,equations (15-18)) can be written in terms of four unknowns, namely:A_(U1), A_(E1), A_(E3), and φ_(E1). A numerical method can be used tosolve this system of equations. In one example, the data used as inputto the model includes the real and imaginary components of the first andthird harmonics of the total sensor signal.

FIGS. 8 and 9 show graphical representations of exemplary results fromthe eddy current compensation procedure. The results shown in thesefigures are for a field generator coil driven with a waveform having afundamental frequency of about 3 kHz and a third harmonic of about 9kHz. Higher order harmonics were present but were not used in thecompensation scheme.

In FIG. 8, the signal strength of a stationary sensor 84 is disturbed asa large stainless steel ring is moved into the vicinity of the fieldgenerating coil and sensor. The solid circles 84 represent the signalbefore compensation and the open triangles 86 represent the signal aftercompensation.

In FIG. 9, the signal strength of a stationary sensor is disturbed as astainless steel plate moved into and out of the vicinity of the fieldgenerating coil and sensor. The solid circles 94 represent the signalbefore compensation and the open triangles 96 represent the signal aftercompensation.

An alternative method of solving the system of equations presented inequation (15) through equation (18) is to work explicitly with the realand imaginary components of the sensor signals

as follows:

$\begin{matrix}{{Re}_{T\; 1} = {{Re}_{U\; 1} + {Re}_{E\; 1}}} & (19) \\{{Im}_{T\; 1} = {{Im}_{U\; 1} + {Im}_{E\; 1}}} & (20) \\{{Re}_{T\; 3} = {{Re}_{U\; 3} + {Re}_{E\; 3}}} & (21) \\{{Im}_{T\; 3} = {{Im}_{U\; 3} + {Im}_{E\; 3}}} & (22) \\{\varphi_{U\; 1} = {\arctan ( \frac{{Im}_{U\; 1}}{{Re}_{U\; 1}} )}} & (23) \\{\varphi_{U\; 3} = {\arctan ( \frac{{Im}_{U\; 3}}{{Re}_{U\; 3}} )}} & (24) \\{{F \equiv F_{3}} = \frac{\sqrt{{Re}_{U\; 3}^{2} + {Im}_{U\; 3}^{2}}}{\sqrt{{Re}_{U\; 1}^{2} + {Im}_{U\; 1}^{2}}}} & (25) \\{{\kappa \equiv \kappa_{3}} = {\frac{\tan \lbrack {\frac{\pi}{2} - {\arctan ( \frac{{Im}_{E\; 3}}{{Re}_{E\; 3}} )} + {\arctan ( \frac{{Im}_{U\; 3}}{{Re}_{U\; 3}} )}} \rbrack}{\tan \lbrack {\frac{\pi}{2} - {\arctan ( \frac{{Im}_{E\; 1}}{{Re}_{E\; 1}} )} + {\arctan ( \frac{{Im}_{U\; 1}}{{Re}_{U\; 1}} )}} \rbrack} = 3}} & (26)\end{matrix}$

A numerical method can be used to solve the above identified set ofequations, however, a closed form solution does exist and may be used.For example, in the closed form solution, the amplitude of thefundamental harmonic A_(U1) can be represented as:

$\begin{matrix}{{A_{U\; 1} = {{{Re}_{U\; 1}^{\prime}} = {{- \frac{{\kappa \; {Re}_{T\; 1}^{\prime}{Im}_{T\; 3}^{\prime}} - {{Re}_{T\; 3}^{\prime}{Im}_{T\; 1}^{\prime}}}{{F\; {Im}_{T\; 1}^{\prime}} - {\kappa \; {Im}_{T\; 3}^{\prime}}}}}}}{where}} & (27) \\{{{\begin{pmatrix}{Re}_{Ti}^{\prime} \\{Im}_{Ti}^{\prime}\end{pmatrix} = {\begin{pmatrix}{\cos \; \varphi_{Ui}} & {\sin \; \varphi_{Ui}} \\{{- \sin}\; \varphi_{Ui}} & {\cos \; \varphi_{Ui}}\end{pmatrix}\begin{pmatrix}{Re}_{Ti} \\{Im}_{Ti}\end{pmatrix}}};}{{i = 1},3}} & (28)\end{matrix}$

While in the above examples harmonic frequencies have been used toperform signal compensation, the process can be generalized to use anypair of frequencies (harmonic or non-harmonic frequencies).

In addition to providing compensation to a position indication signalfor the presence of conductive objects near the magnetic tracking systemas described above, the presence of conductive objects can also bedetected by monitoring the ratio A_(T3)/A_(T1) and noting deviationsfrom F₃.

Alternatively, to detect the presence of conductive objects one canmonitor deviations from φ_(Ui) for large amplitude signals and regardphase changes to be associated with the presence of conductive objects.In another method, the real and imaginary components at each frequencyare monitored. Any number of mathematical techniques can then be used todifferentiate between real and imaginary components in undisturbed anddisturbed environments.

As described above, the κ can be generalized as shown in equation (14),reproduced to follow:

$\begin{matrix}{{{\kappa (\omega)} \equiv \frac{\tan ( {\frac{\pi}{2} - \varphi_{E}} )}{\tan ( {\frac{\pi}{2} - \varphi_{E\; n}} )}} = \frac{\omega}{\omega_{n}}} & (14)\end{matrix}$

This can be rewritten as:

$\begin{matrix}{{\kappa_{ij} \equiv {\kappa ( \omega_{i} )}} = \frac{\omega_{i}}{\omega_{j}}} & (29)\end{matrix}$

where the indices i=1, . . . , N and j=1, . . . , N label thefrequencies for which sensor amplitudes have been measured, and N is thetotal number of frequencies for which measurements are performed. Theseindices can be any frequency and are not necessarily harmonic labels.The exact nature of the frequency spectrum depends on the hardware ofthe system and on the waveform driving the field generator coils. Thej^(th) frequency is used as a “normalization” frequency (labeled as 1 inequation (13) for example).

Equation (27) can also be generalized to any pair of frequencies asfollows:

$\begin{matrix}{{A_{U\; {ij}} = {{- \frac{{\kappa_{ij}\; {Re}_{T\; j}^{\prime}{Im}_{T\; i}^{\prime}} - {{Re}_{Ti}^{\prime}{Im}_{T\; j}^{\prime}}}{{F_{ij}\; {Im}_{T\; j}^{\prime}} - {\kappa_{ij}\; {Im}_{T\; i}^{\prime}}}}}}{where}} & (30) \\{\begin{pmatrix}{Re}_{Ti}^{\prime} \\{Im}_{Ti}^{\prime}\end{pmatrix} = {\begin{pmatrix}{\cos \; \varphi_{Ui}} & {\sin \; \varphi_{Ui}} \\{{- \sin}\; \varphi_{Ui}} & {\cos \; \varphi_{Ui}}\end{pmatrix}\begin{pmatrix}{Re}_{Ti} \\{Im}_{Ti}\end{pmatrix}}} & (31)\end{matrix}$

for all i. Although equation (30) is explicitly written for pairs offrequencies, any number of relevant mathematical formulations that arestated in terms of the real and imaginary values can be used forcompensation. For example, for continuous frequency functions, a complexpolynomial can be fit to a characteristic undisturbed sensor signal.Changes in the expected polynomial coefficients of subsequentmeasurements can be used to indicate the presence of conductive objects.Adjustments to these polynomial coefficients can then be made tocompensate for any distortions of a disturbed frequency function. Aproper propagation of errors for the real and imaginary values ofequations (30) and (31) can also be performed to account for smallamplitude signals and measurement uncertainties.

Given the above equations, the signal of the j^(th) frequency can becorrected based on the real and imaginary values of the i^(th)frequency. Each j^(th) frequency therefore has N−1 corrected values,from which one can calculate a weighted average amplitude, S_(j), (orreal and imaginary components) and standard deviation ΔS_(j) (e.g.uncertainty).

The next step in this compensation procedure is to calculate a χ² valueas follows:

$\begin{matrix}{\chi^{2} = {\sum\limits_{j = 1}^{N}\frac{( {{a\; {\overset{\_}{S}}_{j}} - S_{j}} )^{2}}{( {\Delta \; S_{j}} )^{2}}}} & (32)\end{matrix}$

where ‘a’ is the amplitude used in a position fit and S _(j) is theexpected and normalized amplitude, for frequency j of an undisturbedfrequency function, obtained from a field generator characterizationprocess (in an undisturbed environment). From the minimizing condition

$\begin{matrix}{\frac{\chi^{2}}{a} = 0} & (33)\end{matrix}$

the desired amplitude ‘a’ can be determined as follows:

$\begin{matrix}{a = \frac{\sum\limits_{j = 1}^{N}\frac{( {{\overset{\_}{S}}_{j}S_{j}} )}{( {\Delta \; S_{j}} )^{2}}}{\sum\limits_{j = 1}^{N}\frac{( {\overset{\_}{S}}_{j} )^{2}}{( {\Delta \; S_{j}} )^{2}}}} & (34)\end{matrix}$

The χ₂ value can also be used to detect the presence of conductiveobjects. This is done by calculating ‘a’ for a set of frequencyamplitudes (or real and imaginary signal components) that have not beencorrected. The resulting value of ‘a’ is then substituted into equation(32) and a χ² value is computed.

Referring to FIG. 10, a process 100 for eddy current detection isachieved through monitoring the value of χ². Appropriate thresholds canbe set on χ² to indicate different levels of distortion. Process 100 isa two stage process. In the first stage (steps 102 and 104) thecompensation system measures the characteristic frequency function of amagnetic tracking system in an undisturbed field (step 102) andnormalizes the function (step 104). For example, the function can benormalized by setting the area under the function to unity. This stagecan be achieved during the time of system characterization. The secondstage of process 100 (steps 108, 110, 112, 114, and 116) occurs when thesystem is in real-time operation and a disturbance is near the system.During this time the system performs a frequency sweep (step 108) andmeasures a real-time, and possibly disturbed, frequency function (step110). The real-time frequency function is then compared to theundisturbed, normalized frequency function and the amplitude (‘a’) iscalculated according to equation (34) (step 112). The calculatedamplitude is substituted into equation (32) and a value for χ² iscalculated (step 114). The χ² value is used to determine the extent ofthe disturbance to the system (step 116). In general, a small value ofχ² indicates a small disturbance and a large value of χ² indicates alarge disturbance.

Referring to FIG. 11, a process 200 describes a method for determiningposition indication values. This process begins with eddy currentdetection (step 202), for example, process 100. If eddy currents aredetected then a compensation (step 204) is performed prior tocalculating position indication values (step 206), otherwise the processcan proceed immediately to calculating position indication values (step206).

Multiple field generator coils (e.g., 2, 4, 8, 12 . . . ) may beincluded in a detection scheme. Multiple coils provide the advantage ofincreased sensitivity and redundancy. The presence of conductive objectscan cause a signal disturbance due to coupling to one or more of thefield generator and/or sensor coils.

The χ² value can also be used to aid in “tuning” the system to aparticular frequency range such that sensitivity to different types ofconductive objects is obtained. For example, stainless steel objects areoften more easily detected in a mid-frequency range while aluminumobjects are more easily detected in a low-frequency range. Other factorssuch as the geometry of the object can also affect the region ofsensitivity. Once the region of sensitivity has been determined for aparticular conductive object, equation (34) can be used in the lesssensitive regions (e.g. low-frequency ranges) to obtain a value of ‘a’.The motivation for doing this comes from the realization that conductiveobjects can be modeled as low-pass R-L circuits (i.e. filters).

A number of embodiments of the invention have been described.Nevertheless, it will be understood that various modifications may bemade without departing from the spirit and scope of the invention.Accordingly, other embodiments are within the scope of the followingclaims.

1. A distortion compensation method comprising: determining anundisturbed phase for at least one of a first position indication signaland a second position indication signal; determining an undisturbedratio that relates the amplitude of the first position indication signalat a first frequency to the amplitude of the second position indicationsignal at a second frequency; determining a disturbed amplitude andphase of the position indication signal; and adjusting a positionindication based on the disturbed amplitude and phase, the undisturbedamplitude ratio, and the undisturbed phase.
 2. The method of claim 1further comprising calculating a relationship between the eddy currentphases of the first position indication signal and the second positionindication signal.
 3. The method of claim 1 further comprising:determining a second undisturbed ratio that relates the amplitude ofeither of the first and the second position indication signals to theamplitude of a third position indication signal at a third frequency,and adjusting a position indication is further based on the secondundisturbed ratio.
 4. The method of claim 1 wherein the first frequencyis a superior harmonic of the second position indication signal and thesecond frequency is a subordinate harmonic of the first positionindication signal.
 5. The method of claim 4 wherein the superiorharmonic is the fundamental frequency.
 6. The method of claim 4 whereinthe subordinate harmonic is a third order harmonic.
 7. The method ofclaim 1 wherein the first frequency is less than the second frequency.8. The method of claim 1 further comprising generating a plurality offrequencies using a multiple frequency waveform.
 9. The method of claim8 wherein the multiple frequency waveform is a chirped waveform.
 10. Themethod of claim 1 wherein the selected first frequency and secondfrequency are harmonically related.
 11. The method of claim 1 whereinthe distortion compensation method is repeated for a plurality ofposition indication signals.
 12. The method of claim 1 furthercomprising detecting the presence of an eddy current in a conductiveobject.
 13. The method of claim 12 wherein detecting the presence of aneddy current includes monitoring a ratio of the amplitude of the firstposition indication signal and the amplitude of the second positionindication signal.
 14. The method of claim 12 wherein detecting thepresence of an eddy current includes detecting a change in theundisturbed phase.
 15. The method of claim 1 wherein determining theundisturbed phase includes measuring asymptotic phase values and usingthe asymptotic phase values to calculate the undisturbed phase.
 16. Themethod of claim 15 wherein determining the undisturbed phase includesiteratively calculating phase values and adjusting an asymptotic phasevalue, the asymptotic phase value used to calculate the undisturbedphase.
 17. The method of claim 1 further comprising receiving from asensor the real and imaginary components of the first and secondposition indication signals.
 18. A distortion compensation methodcomprising: determining a characteristic mathematical formulation thatdescribes an undistorted frequency function; monitoring thecharacteristics of the mathematical formulation to indicate the presenceof conductive objects; and adjusting the characteristic mathematicalformulation to compensate for distortions of a disturbed frequencyfunction.
 19. The method of claim 18 wherein monitoring thecharacteristics of the mathematical formulation includes monitoring thecharacteristics of the mathematical formulation in subsequent real-timemeasurements.
 20. The method of claim 18 wherein the mathematicalformulation is a complex polynomial function.
 21. The method of claim 18wherein the disturbed frequency function describes real and imaginarycomponents of the position indication signal.
 22. The method of claim 18wherein the disturbed frequency function describes the amplitude andphase of the position indication signal.
 23. A method for detecting thepresence of conductive objects, the method comprising: determining acharacteristic frequency function of an undisturbed magnetic trackingsystem; measuring a disturbed real-time frequency function; calculatingreal and imaginary components of the position indication signal using achi-squared minimization of the disturbed frequency function to theundisturbed frequency function; calculating a chi-squared value based onthe characteristic frequency function and the disturbed frequencyfunction; and monitoring the chi-squared value to detect changesindicating the presence of a conductive object.
 24. The method of claim23 wherein determining the characteristic frequency function includesdetermining the characteristic frequency function based on undisturbedposition indication signals.
 25. The method of claim 23 furthercomprising monitoring the chi-squared value for a plurality of positionindication signals.
 26. The method of claim 25 wherein detecting achange in the chi-squared value of at least one of the plurality ofposition indication signals indicates the presence of conductiveobjects.
 27. The method of claim 23 further comprising determining,calculating, and monitoring the chi-squared value for a plurality offrequencies.
 28. The method of claim 27 wherein the detection of achange in a chi-squared value at a particular frequency range canindicate the presence of a particular type of conductive objects. 29.The method of claim 28 wherein the particular frequency range is amid-frequency range.
 30. The method of claim 28 wherein the particularfrequency range is a low-frequency range.
 31. The method of claim 28wherein the particular frequency range is a high-frequency range. 32.The method of claim 28 further comprising determining the positionindication signal in a frequency range that is not affected by aparticular type of conductive object.
 33. A method comprising: measuringcharacteristics of a conductive object; determining an eddy currentphase based on the characterization; measuring a disturbed amplitude;and calculating an undisturbed amplitude based on the eddy currentphase, an undisturbed sensor phase, and the disturbed amplitude.
 34. Themethod of claim 33 wherein measuring characteristics of a conductiveobject includes: moving the conductive object in the vicinity of astationary sensor; and collecting a set of disturbed data points. 35.The method of claim 33 further comprising compensating a positionindication based on the calculated undisturbed amplitude.
 36. The methodof claim 33 wherein a numerical method is used to solve a set ofequations.
 37. The method of claim 33 wherein a closed form solution isused to solve a set of equations.